robot(diffrential wheel drive) plans the correct path, but the cmd_vel given is wrong as it contains(x and y components)

asked 2019-11-28 06:07:33 -0500

akshayantony123 gravatar image

updated 2019-11-28 10:42:50 -0500

I am using a custom robot ,in which gmapping,keyboard teleop.launch works perfectly .When the move_base.launch and a 2 d goal is given the robot moves in a random path and the cmd_vel has both x and y components ,but it should have only x direction as it is a diffrential wheel drive.any extra information can be uploaded.

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Possibly a configuration issue. There should be a line in your local planner YAML file that says something to effect of "holonomic_robot: false"

A holonomic robot can be given non-zero Y values in the TWIST/CMD_VEL message.

billy gravatar image billy  ( 2019-12-01 21:09:55 -0500 )edit